METHOD FOR DETECTING FORCE OF CONSTRAINT ACTING BETWEEN OBJECTS AND SYSTEM THEREOF

摘要

PROBLEM TO BE SOLVED: To detect a force of constraint acting between objects even when an inner point of the object comes into contact with a vertex of the other object as in the case where an inner point of foot rear interferes with a vertex on an unprepared ground when a walking robot moves on the unprepared ground. SOLUTION: According to this invention, a point of constraint is obtained by analyzing mutual positional relation of object shapes as they are instead of a simple method in which processing for obtaining the point of constraint is performed by analyzing positional relation between a representative point and a face. When considering the case where two rectangular parallelopiped boxes come into contact mutually, an intersection of two rectangular parallelopiped is obtained, and interference depth of this intersection and normal vector at the intersection are obtained together. A force of constraint is calculated based on the interference information. Consequently, a force of constraint can be calculated even when two objects interfere mutually on the halfway of a side.